feat: implement new "small-steps" solver + joint improvements

1 files changed, 0 insertions, 57 deletions

diff --git a/src/dynamics/solver/delta_vel.rs b/src/dynamics/solver/delta_vel.rs
deleted file mode 100644
index 2fc92f0..0000000
--- a/src/dynamics/solver/delta_vel.rs
+++ /dev/null
@@ -1,57 +0,0 @@
-use crate::math::{AngVector, Vector, SPATIAL_DIM};
-use crate::utils::WReal;
-use na::{DVectorView, DVectorViewMut, Scalar};
-use std::ops::{AddAssign, Sub};
-
-#[derive(Copy, Clone, Debug, Default)]
-#[repr(C)]
-//#[repr(align(64))]
-pub struct DeltaVel<N: Scalar + Copy> {
-    pub linear: Vector<N>,
-    pub angular: AngVector<N>,
-}
-
-impl<N: Scalar + Copy> DeltaVel<N> {
-    pub fn as_slice(&self) -> &[N; SPATIAL_DIM] {
-        unsafe { std::mem::transmute(self) }
-    }
-
-    pub fn as_mut_slice(&mut self) -> &mut [N; SPATIAL_DIM] {
-        unsafe { std::mem::transmute(self) }
-    }
-
-    pub fn as_vector_slice(&self) -> DVectorView<N> {
-        DVectorView::from_slice(&self.as_slice()[..], SPATIAL_DIM)
-    }
-
-    pub fn as_vector_slice_mut(&mut self) -> DVectorViewMut<N> {
-        DVectorViewMut::from_slice(&mut self.as_mut_slice()[..], SPATIAL_DIM)
-    }
-}
-
-impl<N: WReal> DeltaVel<N> {
-    pub fn zero() -> Self {
-        Self {
-            linear: na::zero(),
-            angular: na::zero(),
-        }
-    }
-}
-
-impl<N: WReal> AddAssign for DeltaVel<N> {
-    fn add_assign(&mut self, rhs: Self) {
-        self.linear += rhs.linear;
-        self.angular += rhs.angular;
-    }
-}
-
-impl<N: WReal> Sub for DeltaVel<N> {
-    type Output = Self;
-
-    fn sub(self, rhs: Self) -> Self {
-        DeltaVel {
-            linear: self.linear - rhs.linear,
-            angular: self.angular - rhs.angular,
-        }
-    }
-}